Vehicle dynamic ripple interaction control method and device based on human footprint positioning

Abstract

This invention relates to a vehicle dynamic ripple interactive control method and device based on human footprint positioning, belonging to the field of vehicle manufacturing technology. The method includes projecting dynamic ripples according to the motion state of the authorized user target through multimodal perception, human skeleton point tracking, instantaneous foot landing determination, real-time simulation of wave equations, and adaptive switching of motion state, so as to achieve a synchronous interactive experience where what is stepped on is what is seen, and improve the vehicle's intelligent perception and adaptive effect on the user's motion state.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and in particular to a method and device for dynamic ripple interactive control of vehicles based on human footprint positioning. Background Technology

[0002] With the rapid development of new energy vehicles and intelligent connected technologies, the interaction between vehicles and users is undergoing a profound transformation from "one-way functional output" to "two-way intelligent interaction." In the field of vehicle external interaction, intelligent lighting systems, as an important visual medium connecting vehicles and users, have become one of the core directions for differentiated competition among major automakers. However, existing lighting effects typically only have two rigid states: on and off. Their functions are too simplistic and cannot achieve intelligent perception and adaptive effects based on the user's movement. Summary of the Invention

[0003] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a vehicle dynamic ripple interactive control method and device based on human footprint positioning, which solves the technical problem that the existing light signal effects usually only have two rigid states of on and off, the function is too simple, and it cannot achieve intelligent perception and adaptive effect of user movement state.

[0004] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0005] The first aspect of this invention provides a vehicle dynamic ripple interactive control method based on human footprint positioning.

[0006] The vehicle dynamic ripple interactive control method based on human footprint localization proposed in this embodiment of the invention includes:

[0007] Acquire perception data around the vehicle, the perception data including at least image data collected by a panoramic camera and spatial location data of the mobile terminal held by the authorized user obtained by an ultra-wideband locator.

[0008] Based on the image data and the spatial location data, the authorized user target is identified among the human targets around the vehicle, and the feet of the authorized user target are tracked to obtain a sequence of foot spatial coordinates in consecutive frames.

[0009] Based on the vertical direction data in the foot spatial coordinate sequence, the landing point coordinates and landing speed value of the authorized user target are determined. The landing point coordinates are used as the wave source position, and the landing speed value is used to determine the initial amplitude. The wave source position and the initial amplitude are substituted into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position.

[0010] Ripple texture data is generated by mapping the displacement of each position in the waveform data, and the motion state of the authorized user target is determined by the horizontal direction data in the foot spatial coordinate sequence, and the ripple presentation mode is determined by the motion state of the authorized user target.

[0011] The ripple texture data is dynamically processed according to the ripple presentation mode to generate dynamic ripple projection texture data, and the projection device on the vehicle is controlled to project the dynamic ripples onto the ground around the vehicle.

[0012] In some instances, determining the authorized user target among human targets around the vehicle based on the image data and the spatial location data includes:

[0013] The spatial location of human targets within a preset range around the vehicle is detected based on the image data, and the spatial location of the detected human targets is matched with the spatial location of the mobile terminal held by the authorized user obtained by the ultra-wideband locator.

[0014] When the spatial distance between the spatial location of the human target and the spatial location of the mobile terminal held by the authorized user is less than a preset matching threshold, the human target is determined to be the authorized user target.

[0015] In some instances, determining the landing point coordinates and landing speed of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence includes:

[0016] Based on the vertical direction data in the foot spatial coordinate sequence, the height parameter h, velocity parameter v, and acceleration parameter a of the foot in the vertical direction are analyzed and obtained.

[0017] When the height parameter h changes from greater than a first preset height threshold to less than a second preset height threshold in a continuous frame, the direction of the velocity parameter v changes from upward to downward and its absolute value is greater than a preset velocity threshold, and the acceleration parameter a is greater than a preset acceleration threshold, the current moment is determined to be the landing moment, wherein the first preset height threshold is greater than the second preset height threshold;

[0018] The spatial coordinates of the foot at the instant of landing are determined as the coordinates of the landing point, and the absolute value of the velocity parameter v at the instant of landing is taken as the landing velocity value.

[0019] In some instances, substituting the wave source location and the initial amplitude into the wave equation for numerical solution yields waveform data at various locations propagating outward from the wave source location, including:

[0020] The digital simulation space is discretized into a two-dimensional uniform grid; wherein each intersection point in the two-dimensional uniform grid is a grid point, each grid point corresponds to a sampling position of the ground around the vehicle, and has grid index coordinates and corresponding physical space coordinates;

[0021] The initial conditions for the wave equation are constructed by taking the grid point corresponding to the wave source location as the center grid point of the wave source and the initial amplitude as the displacement of the center grid point of the wave source at the initial moment.

[0022] Based on the initial conditions of the wave equation, the wave equation is solved iteratively using the explicit finite difference method. At each time step, the displacement of each grid point at the next time step is calculated recursively based on the current displacement of each grid point. At the end of each time step, the displacement of each grid point in the digital simulation space is updated until the displacement of each grid point approaches zero or reaches the preset number of iterations, thereby obtaining the waveform data of each position propagating outward from the wave source position.

[0023] In some instances, generating ripple texture data based on the displacement at each position in the waveform data includes:

[0024] The displacement u of each grid point in the waveform data is converted into pixel color values ​​according to a preset mapping relationship; wherein a positive displacement u is mapped to a light color, a negative displacement u is mapped to a dark color, and the larger the absolute value of the displacement u, the higher the color saturation.

[0025] The converted pixel color values ​​of each grid point are arranged according to the grid position to generate the ripple texture data.

[0026] In some instances, determining the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence includes:

[0027] Based on the horizontal data in the foot spatial coordinate sequence, the change in horizontal displacement D of the foot within a preset time window is analyzed and obtained.

[0028] Based on the instantaneous foot landing time in the foot spatial coordinate sequence, determine the foot landing frequency F per unit time.

[0029] When the change in horizontal displacement D is greater than a first preset displacement threshold and the landing frequency F is greater than a preset frequency threshold, it is determined to be a walking state;

[0030] When the change in horizontal displacement D is less than the second preset displacement threshold and the duration exceeds the preset dwell time threshold, it is determined to be a dwell state; wherein, the second preset displacement threshold is less than the first preset displacement threshold;

[0031] When the change in horizontal displacement D is between the second preset displacement threshold and the first preset displacement threshold, it is determined to be a deceleration or start-up state.

[0032] In some instances, determining the ripple presentation mode based on the motion state of the authorized user target includes:

[0033] When the authorized user target's movement state is walking, the ripple presentation mode is determined to be diffusion mode;

[0034] When the motion state of the authorized user target is a stationary state, the ripple presentation mode is determined to be a breathing mode;

[0035] When the movement state of the authorized user target is deceleration or starting, the ripple presentation mode is determined to be the transition mode, that is, the ripple is controlled to smoothly transition between the diffusion mode and the breathing mode according to the preset interpolation curve.

[0036] In some instances, the step of dynamically processing the ripple texture data according to the ripple rendering mode to generate dynamic ripple projection texture data includes:

[0037] When the ripple rendering mode is diffusion mode, a scaling transformation that increases with time is applied to the texture coordinates of the ripple texture data, and a decay that decreases with increasing scaling degree is applied to the pixel transparency, generating a dynamic image that diffuses outward.

[0038] When the ripple rendering mode is breathing mode, the texture coordinate center of the ripple texture data is locked, and a sine wave modulation is applied to the scaling factor and / or pixel brightness of the ripple texture data to generate a dynamic picture with periodic light and dark pulsation in place.

[0039] When the ripple presentation mode is a transition mode, the dynamic images corresponding to the diffusion mode and the breathing mode are mixed according to a preset interpolation curve to generate a smooth transition dynamic image.

[0040] A second aspect of this invention provides a vehicle dynamic ripple interactive control device based on human footprint positioning, comprising:

[0041] The data acquisition unit is used to acquire perception data around the vehicle. The perception data includes at least image data collected by the panoramic camera and spatial location data of the mobile terminal held by the authorized user acquired by the ultra-wideband locator.

[0042] The human body tracking unit is used to determine the authorized user target among human targets around the vehicle based on the image data and the spatial position data, and to track the feet of the authorized user target to obtain a sequence of foot spatial coordinates in consecutive frames.

[0043] The foot data analysis unit is used to determine the landing point coordinates and landing speed value of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence, and to use the landing point coordinates as the wave source position and the landing speed value as the initial amplitude. The wave source position and the initial amplitude are substituted into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position.

[0044] The ripple texture data generation unit is used to generate ripple texture data based on the displacement of each position in the waveform data, determine the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence, and determine the ripple presentation mode based on the motion state of the authorized user target.

[0045] The dynamic ripple projection unit is used to dynamically process the ripple texture data according to the ripple presentation mode, generate dynamic ripple projection texture data, and control the projection device on the vehicle to project the dynamic ripple onto the ground around the vehicle.

[0046] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in the first aspect above.

[0047] This invention discloses a vehicle dynamic ripple interactive control method based on human footprint localization, comprising: acquiring perception data around the vehicle, the perception data including at least image data acquired by a panoramic camera and spatial position data of a mobile terminal held by an authorized user acquired by an ultra-wideband locator; determining the authorized user target among human targets around the vehicle based on the image data and spatial position data, and tracking the feet of the authorized user target to obtain a sequence of foot spatial coordinates in consecutive frames; determining the landing point coordinates and landing velocity value of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence, and using the landing point coordinates as... The initial amplitude is determined by the foot landing velocity at the wave source location. The wave source location and initial amplitude are then substituted into the wave equation for numerical solution, yielding waveform data at each position propagating outwards from the wave source location. Ripple texture data is generated by mapping the displacement of each position in the waveform data. The motion state of the authorized user target is determined based on the horizontal direction data in the foot spatial coordinate sequence, and the ripple presentation mode is determined according to the motion state of the authorized user target. The ripple texture data is then dynamically processed according to the ripple presentation mode to generate dynamic ripple projection texture data, and the projection device on the vehicle is controlled to project the dynamic ripples onto the ground around the vehicle. This application utilizes multimodal perception, human skeleton point tracking, instantaneous foot landing determination, real-time simulation of the wave equation, and adaptive switching of motion state to project dynamic ripples according to the motion state of the authorized user target, achieving a synchronous interactive experience where what is stepped on is what is seen, and improving the vehicle's intelligent perception and adaptive effect on the user's motion state. Attached Figure Description

[0048] Figure 1 A flowchart of a vehicle dynamic ripple interactive control method based on human footprint localization provided in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of a vehicle dynamic ripple interactive control device based on human footprint positioning, provided as an embodiment of the present invention. Detailed Implementation

[0050] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] The vehicle dynamic ripple interactive control method based on human footprint localization proposed in this invention addresses the problem that existing lighting effects typically only have two rigid states, on and off, which are too simplistic and fail to achieve intelligent perception and adaptation of the user's movement state. By employing multimodal perception, human skeleton point tracking, instantaneous foot placement determination, real-time simulation of wave equations, and adaptive switching of movement state, dynamic ripples are projected according to the movement state of the authorized user target, achieving a synchronous interactive experience where what is stepped on is what is seen, thereby improving the vehicle's intelligent perception and adaptation of the user's movement state.

[0052] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0053] Figure 1 This is a flowchart illustrating a vehicle dynamic ripple interactive control method based on human footprint localization, provided as an embodiment of the present invention. Figure 1 As shown in the embodiment of the present invention, the vehicle dynamic ripple interactive control method based on human footprint localization includes:

[0054] Step 100: Obtain perception data around the vehicle. The perception data includes at least image data collected by a panoramic camera and spatial location data of the mobile terminal held by the authorized user obtained by an ultra-wideband locator.

[0055] Step 110: Based on the image data and the spatial location data, determine the authorized user target among the human targets around the vehicle, and track the feet of the authorized user target to obtain a sequence of foot spatial coordinates in consecutive frames.

[0056] Step 120: Based on the vertical direction data in the foot spatial coordinate sequence, determine the landing point coordinates and landing speed value of the authorized user target, and use the landing point coordinates as the wave source position and the landing speed value to determine the initial amplitude. Substitute the wave source position and the initial amplitude into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position.

[0057] Step 130: Generate ripple texture data by mapping the displacement of each position in the waveform data, determine the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence, and determine the ripple presentation mode based on the motion state of the authorized user target.

[0058] Step 140: Dynamically process the ripple texture data according to the ripple presentation mode to generate dynamic ripple projection texture data, and control the projection device on the vehicle to project the dynamic ripples onto the ground around the vehicle.

[0059] In this exemplary embodiment, the vehicle is equipped with a panoramic camera, an ultra-wideband (UWB) locator, and a high-resolution DLP projection matrix. The panoramic camera is installed below the rearview mirror or around the vehicle body to collect image data of the area surrounding the vehicle; the ultra-wideband locator is located inside the vehicle to obtain spatial location data of a mobile terminal (such as a mobile phone or smart key) held by an authorized user.

[0060] After the vehicle is started, the system continuously acquires the aforementioned perception data. When an authorized user enters a preset range (e.g., 5 meters) around the vehicle with a mobile terminal, the system detects human targets around the vehicle based on image data collected by the camera, and matches the spatial position of the detected human target in the vehicle coordinate system with the spatial position of the mobile terminal obtained by UWB, thereby accurately identifying the authorized user target from multiple human targets.

[0061] Subsequently, the system extracts skeletal points from the human target, tracks key points of its feet, and obtains a sequence of foot spatial coordinates in consecutive frames. The system extracts vertical data from this coordinate sequence and calculates the foot's height parameter h, velocity parameter v, and acceleration parameter a in the vertical direction. When h changes from greater than a first preset height threshold (e.g., 0.15m) to less than a second preset height threshold (e.g., 0.03m) in consecutive frames, v changes from upward to downward and its absolute value is greater than a preset velocity threshold (e.g., 0.5m / s), and a is greater than a preset acceleration threshold (e.g., 5m / s²), all three conditions are simultaneously met. The system determines the current moment as the instant of foot landing, identifies the foot's spatial coordinates at that moment as the landing point coordinates, and uses the absolute value of the velocity parameter v at that moment (e.g., 1.2m / s) as the landing velocity value.

[0062] The system uses the landing point coordinates as the wave source location and the landing velocity value to determine the initial amplitude according to a preset mapping curve (e.g., a landing velocity of 1.2 m / s corresponds to an initial amplitude of 0.6). The wave source location and initial amplitude are substituted into the two-dimensional wave equation for numerical solution, obtaining waveform data at each position propagating outward from the wave source location. Subsequently, the system maps the displacement of each position in the waveform data to pixel color values, generating ripple texture data.

[0063] Simultaneously, based on the horizontal data in the foot's spatial coordinate sequence, the system calculates the horizontal displacement change D and the foot landing frequency F within a preset time window (e.g., 2 seconds). When D is greater than a first preset displacement threshold (e.g., 0.5m) and F is greater than a preset frequency threshold (e.g., 1.0 times / second), it is determined to be a walking state, and the ripple presentation mode is set to diffusion mode. The system dynamically processes the ripple texture data according to the diffusion mode—applying a scaling transformation to the texture coordinates that increases with time, and applying a decay to the pixel transparency that decreases with increasing scaling, generating outward-diffused dynamic ripple projection texture data. Finally, the system controls the DLP projection matrix to project the dynamic ripples onto the ground around the vehicle at a preset projection frequency (e.g., 60 frames / second), creating a dynamic ripple visual effect that is synchronized in real-time with the user's foot landing action.

[0064] This application utilizes multimodal perception, human skeleton point tracking, instantaneous foot placement determination, real-time simulation of wave equations, and adaptive switching of motion states to project dynamic ripples based on the motion state of the authorized user's target, thereby achieving a synchronous interactive experience where what you step on is what you see, and improving the vehicle's intelligent perception and adaptive effect on the user's motion state.

[0065] In some instances, determining the authorized user target among human targets around the vehicle based on the image data and the spatial location data includes:

[0066] The spatial location of human targets within a preset range around the vehicle is detected based on the image data, and the spatial location of the detected human targets is matched with the spatial location of the mobile terminal held by the authorized user obtained by the ultra-wideband locator.

[0067] When the spatial distance between the spatial location of the human target and the spatial location of the mobile terminal held by the authorized user is less than a preset matching threshold, the human target is determined to be the authorized user target.

[0068] In this exemplary embodiment, based on the image data collected by the panoramic camera, a deep learning target detection algorithm (such as YOLO or SSD) is used to detect all human targets within a preset range around the vehicle (such as a circular area with a radius of 5 meters centered on the vehicle), and obtain the three-dimensional spatial position of each human target in the vehicle coordinate system.

[0069] Simultaneously, the system obtains the spatial location of the mobile terminal held by the authorized user through a UWB locator. For each detected human target, the system calculates the Euclidean distance between the spatial location of the human target and the spatial location of the mobile terminal obtained by UWB. When this distance is less than a preset matching threshold (e.g., 0.3m), the system determines that the human target and the mobile terminal belong to the same user, thus identifying the human target as an authorized user target.

[0070] When multiple human targets exist around the vehicle but only one UWB signal is present, only the human target whose spatial distance to the UWB signal is less than a threshold is identified as an authorized user target. The remaining human targets are not identified and no ripple interaction is triggered. When multiple human targets and multiple UWB signals exist around the vehicle, the system performs a one-to-one matching process to achieve simultaneous identification and tracking of multiple authorized users.

[0071] This application achieves accurate identification of authorized users through spatial matching of UWB centimeter-level precision and visual detection, which helps to effectively prevent unauthorized users from accidentally triggering ripple interaction when they approach. This not only protects user privacy but also helps to avoid unnecessary energy consumption and hardware damage.

[0072] In some instances, determining the landing point coordinates and landing speed of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence includes:

[0073] Based on the vertical direction data in the foot spatial coordinate sequence, the height parameter h, velocity parameter v, and acceleration parameter a of the foot in the vertical direction are analyzed and obtained.

[0074] When the height parameter h changes from greater than a first preset height threshold to less than a second preset height threshold in a continuous frame, the direction of the velocity parameter v changes from upward to downward and its absolute value is greater than a preset velocity threshold, and the acceleration parameter a is greater than a preset acceleration threshold, the current moment is determined to be the landing moment, wherein the first preset height threshold is greater than the second preset height threshold;

[0075] The spatial coordinates of the foot at the instant of landing are determined as the coordinates of the landing point, and the absolute value of the velocity parameter v at the instant of landing is taken as the landing velocity value.

[0076] In this exemplary embodiment,

[0077] The system extracts vertical (Z-axis) data from a sequence of foot spatial coordinates across consecutive frames to obtain the trajectory of foot height changes over time. For example, it obtains the height parameter h: the vertical distance of a foot keypoint relative to the ground, in meters.

[0078] Velocity parameter v: the first derivative of height h with respect to time t, i.e. v = dh / dt, in meters per second. Positive values ​​indicate upward motion, and negative values ​​indicate downward motion.

[0079] Acceleration parameter a: the first derivative of velocity v with respect to time t, i.e., a = dv / dt = d²h / dt², in meters per second².

[0080] The above three parameters are calculated in real time in each frame, and the following three conditions are continuously monitored to see if they are met simultaneously:

[0081] The height parameter h changes from being greater than a first preset height threshold H1 (e.g., 0.15m) to being less than a second preset height threshold H2 (e.g., 0.03m) in consecutive frames.

[0082] The direction of the velocity parameter v changes from positive (upward) to negative (downward), and the absolute value is greater than the preset velocity threshold V_th (e.g., 0.5 m / s).

[0083] The acceleration parameter a is greater than the preset acceleration threshold A_th (e.g., 5 m / s²). 2 ).

[0084] When all three conditions above are met simultaneously, the current moment is determined to be the instant of landing—that is, the precise instant when the foot collides and contacts the ground. The spatial coordinates of the foot at this moment are recorded as the landing point coordinates, and the absolute value of the velocity parameter v at this moment (e.g., |v|=1.2m / s) is taken as the landing velocity value.

[0085] During a typical human walking process, the foot height trajectory exhibits periodic changes: during the foot lift phase, h increases and v is positive; during the descent phase, h decreases and v becomes negative with its absolute value gradually increasing; at the moment of ground contact, h drops to near zero, the absolute value of v reaches its peak, and a reaches its impact peak. This embodiment uses a three-parameter joint determination to accurately capture this biomechanical characteristic point.

[0086] This embodiment achieves millisecond-level accurate identification of the biomechanical event of landing through triple verification of height, speed, and acceleration. This helps to avoid misjudging non-landing actions such as foot hovering and hand movements as landing events, thus ensuring the accuracy and reliability of ripple triggering.

[0087] In some instances, substituting the wave source location and the initial amplitude into the wave equation for numerical solution yields waveform data at various locations propagating outward from the wave source location, including:

[0088] The digital simulation space is discretized into a two-dimensional uniform grid; wherein each intersection point in the two-dimensional uniform grid is a grid point, each grid point corresponds to a sampling position of the ground around the vehicle, and has grid index coordinates and corresponding physical space coordinates;

[0089] The initial conditions for the wave equation are constructed by taking the grid point corresponding to the wave source location as the center grid point of the wave source and the initial amplitude as the displacement of the center grid point of the wave source at the initial moment.

[0090] Based on the initial conditions of the wave equation, the wave equation is solved iteratively using the explicit finite difference method. At each time step, the displacement of each grid point at the next time step is calculated recursively based on the current displacement of each grid point. At the end of each time step, the displacement of each grid point in the digital simulation space is updated until the displacement of each grid point approaches zero or reaches the preset number of iterations, thereby obtaining the waveform data of each position propagating outward from the wave source position.

[0091] In this exemplary embodiment, the digital simulation space is discretized into a two-dimensional uniform grid. Specifically, based on the ground area around the vehicle where ripples need to be simulated (e.g., -3m to +3m in the X direction, -2m to +5m in the Y direction) and a preset grid resolution (e.g., 300×350), the continuous space is divided into uniform grid cells. The size of each grid cell is Δx×Δy (e.g., 0.02m×0.02m), and the intersection of each grid cell is a grid point. Each grid point has grid index coordinates (i,j) and corresponding physical space coordinates (x,y). The entire digital simulation space contains 300×350=105,000 grid points, and each grid point stores a floating-point number representing the wavefront displacement at that location at the current moment.

[0092] Then, taking the grid point corresponding to the wave source location as the center grid point of the wave source, and the initial amplitude as the displacement of the center grid point of the wave source at the initial time (t=0), the initial conditions of the wave equation are constructed. That is: u(i0, j0, 0)=A0, and the initial displacement of the other grid points is 0.

[0093] The system employs the explicit finite difference method to iteratively solve the two-dimensional wave equation. The specific form of the wave equation is:

[0094] ;

[0095] Where u is the wavefront displacement, t is time, c is the wave velocity parameter (adaptively adjusted according to the ground material type, such as c=2.0m / s for cement ground and c=1.2m / s for sandy ground), and γ is the damping attenuation coefficient; the wave velocity parameter c is adaptively adjusted according to the ground material type of the current environment of the vehicle, and the damping attenuation coefficient γ gradually increases according to the propagation distance to simulate the energy dissipation of ripples during propagation.

[0096] After discretization, the iterative formula is:

[0097] u(i,j,t+Δt)=2u(i,j,t)-u(i,j,t-Δt)+C²·[u(i+1,j,t)+u(i-1,j,t)+ u(i,j+1,t)+u(i,j-1,t)-4u(i,j,t)]-γ·Δt·[u(i,j,t)-u(i,j,t-Δt)];

[0098] At each time step Δt (e.g., 1 / 60 second), the system recursively calculates the displacement of each grid point at the next moment based on the current displacement of each grid point, and updates the displacement of each grid point in the digital simulation space at the end of each time step. The system continues to iterate until the displacement of each grid point approaches zero (i.e., the ripple energy is completely dissipated) or reaches the preset number of iterations (e.g., 500 steps), finally obtaining the waveform data of each position propagating outward from the wave source position.

[0099] This embodiment achieves real-time numerical solution of the wave equation using the explicit finite difference method, enabling efficient simulation of physical phenomena such as ripple diffusion, attenuation, and interference on an onboard computing platform, thus ensuring a real-time rendering performance of 60 frames per second. The wave velocity parameter c is adaptively adjusted according to the ground material, allowing ripples to exhibit different diffusion speeds on different ground surfaces (cement, sand, grass), which helps to enhance visual realism.

[0100] In some instances, generating ripple texture data based on the displacement at each position in the waveform data includes:

[0101] The displacement u of each grid point in the waveform data is converted into pixel color values ​​according to a preset mapping relationship; wherein a positive displacement u is mapped to a light color, a negative displacement u is mapped to a dark color, and the larger the absolute value of the displacement u, the higher the color saturation.

[0102] The converted pixel color values ​​of each grid point are arranged according to the grid position to generate the ripple texture data.

[0103] In this exemplary embodiment, the displacement u(i,j) of each grid point is read from the digital simulation space. The value of u is typically between -1.0 and +1.0—positive values ​​represent wave crests (water surface bulges), negative values ​​represent wave troughs (water surface depressions), and zero values ​​represent calm water surfaces.

[0104] For each grid point, the displacement u is converted into a pixel color value according to the following preset mapping relationship:

[0105] When u>0 (crest region), it is mapped to a bright color system: R=255-(1-u)×80, G=200+u×55, B=255, showing a gradient from white to bright blue;

[0106] When u<0 (the trough region), it is mapped to a dark color scheme: R=80+(1+u)×60, G=80+(1+u)×40, B=180+(1+u)×75, presenting a gradient from dark blue to blue-purple;

[0107] When u=0 (the calm region), the mapping is completely transparent (Alpha=0), and no ripples are displayed.

[0108] Simultaneously, the system determines the pixel's transparency, Alpha, based on the absolute value of the displacement, |u|: the larger |u| is, the less transparent the pixel (the clearer the ripples); the smaller |u| is, the more transparent the pixel (the edges of the ripples fade out naturally). Specifically, Alpha = min(|u| × 255, 255).

[0109] The converted pixel color values ​​of each grid point are arranged according to their grid positions to generate a complete ripple texture image. In this texture image, the peaks are bright, the troughs are dark, and the edge areas have a semi-transparent gradient, presenting a realistic light and shadow effect of water ripples.

[0110] This embodiment transforms the physical simulation results into a realistic visual image by accurately mapping the displacement amount to the pixel color—bright peaks, dark troughs, and naturally fading edges, giving the projected image a high degree of physical realism.

[0111] In some instances, determining the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence includes:

[0112] Based on the horizontal data in the foot spatial coordinate sequence, the change in horizontal displacement D of the foot within a preset time window is analyzed and obtained.

[0113] Based on the instantaneous foot landing time in the foot spatial coordinate sequence, determine the foot landing frequency F per unit time.

[0114] When the change in horizontal displacement D is greater than a first preset displacement threshold and the landing frequency F is greater than a preset frequency threshold, it is determined to be a walking state;

[0115] When the change in horizontal displacement D is less than the second preset displacement threshold and the duration exceeds the preset dwell time threshold, it is determined to be a dwell state; wherein, the second preset displacement threshold is less than the first preset displacement threshold;

[0116] When the change in horizontal displacement D is between the second preset displacement threshold and the first preset displacement threshold, it is determined to be a deceleration or start-up state.

[0117] In this exemplary embodiment, the system extracts horizontal (X-axis and Y-axis) data from a sequence of foot spatial coordinates across consecutive frames and calculates the change in horizontal displacement D of the foot within a preset time window (e.g., 2 seconds). Specifically, D = √[(x_{t} - x_{tT})]. 2 [+(y_{t}-y_{tT})²], where T is the length of the time window; x_{t} is the horizontal coordinate of the frame corresponding to the current time t; x_{tT} is the horizontal coordinate of the frame at the historical time tT; y_{t} is the horizontal coordinate of the frame corresponding to the current time t; and y_{tT} is the horizontal coordinate of the frame at the historical time tT.

[0118] At the same time, the system counts the number of times a foot lands per unit time based on the recorded landing moment, and obtains the landing frequency F (unit: times / second).

[0119] The system determines the three states based on the values ​​of D and F:

[0120] Walking state: When D > the first preset displacement threshold D1 (e.g., 0.3m) and F > the preset frequency threshold F_th (e.g., 0.8 times / second), the user is determined to be in a walking state. For example, when the user walks towards the vehicle at a normal speed, D is usually greater than 0.5m and F is about 1.0-1.2 times / second.

[0121] Dwelling State: When D < the second preset displacement threshold D2 (e.g., 0.05m) and the duration exceeds the preset dwell time threshold T_th (e.g., 2 seconds), the user is determined to be in a dwelling state. For example, when a user stops next to a car to talk to someone, the horizontal displacement of the feet is minimal and there are no new foot placement events for a long time.

[0122] Deceleration or Start-up State: When D is between D2 and D1 (i.e., D2≤D≤D1), the user is determined to be in a deceleration or start-up state. For example, when the user gradually decelerates from walking to stop, during the transition process of D gradually decreasing from greater than D1 to less than D2.

[0123] This embodiment achieves accurate identification of the user's movement state by comprehensively judging two dimensions: the change in horizontal displacement and the frequency of foot landing. The three states of walking, standing still, and deceleration / starting are clearly distinguished, providing a reliable decision-making basis for the intelligent switching of the subsequent ripple presentation mode.

[0124] In some instances, determining the ripple presentation mode based on the motion state of the authorized user target includes:

[0125] When the authorized user target's movement state is walking, the ripple presentation mode is determined to be the diffusion mode, that is, the ripples are controlled to spread outward from each landing point as the center.

[0126] When the authorized user target's motion state is in a stationary state, the ripple presentation mode is determined to be a breathing mode, that is, the ripple is controlled to periodically change in brightness with the nearest landing point to the authorized user target as the center.

[0127] When the movement state of the authorized user target is deceleration or starting, the ripple presentation mode is determined to be the transition mode, that is, the ripple is controlled to smoothly transition between the diffusion mode and the breathing mode according to the preset interpolation curve.

[0128] In this exemplary embodiment, the ripple presentation mode is determined based on the motion state. For example, when the user is walking, the system determines the ripple presentation mode to be a diffusion mode. In this mode, each newly detected foothold generates an independent ripple that spreads outward from that foothold. As the user continues to walk, a series of diffusion ripples centered on each foothold will appear on the ground, creating a visual effect of lotus blossoms with each step. The initial amplitude of each ripple is determined by the foot speed of that step—the heavier the step and the faster the speed, the larger and brighter the ripple.

[0129] When the user is in a lingering state, the system determines the ripple presentation mode as a breathing mode. In this mode, the ripples no longer spread outwards, but instead, they undergo periodic changes in brightness centered on the point closest to the user's foot—like a living organism breathing. The breathing frequency is lower than the frequency of the spreading ripples (e.g., 0.5Hz), simulating the gentle rhythm of biological respiration.

[0130] When the user is decelerating or starting, the system determines the ripple presentation mode as a transition mode. In this mode, the visual effect of the ripples smoothly transitions between the diffusion mode and the breathing mode according to a preset interpolation curve, avoiding abrupt changes when switching modes. For example, as the user gradually decelerates from walking, the diffusion speed of the ripples gradually slows down, the diffusion radius gradually shrinks, and the respiratory pulsation component gradually increases until it fully switches to the breathing mode.

[0131] This embodiment achieves a natural adaptive change of the ripple effect according to the user's movement state—pulling rhythmically with footsteps when walking, accompanying like breathing when stopping, and smoothly connecting during transitions, giving the cold machinery an emotional warmth and sense of life, which is conducive to significantly improving the quality of human-computer interaction experience.

[0132] In some instances, the step of dynamically processing the ripple texture data according to the ripple rendering mode to generate dynamic ripple projection texture data includes:

[0133] When the ripple rendering mode is diffusion mode, a scaling transformation that increases with time is applied to the texture coordinates of the ripple texture data, and a decay that decreases with increasing scaling degree is applied to the pixel transparency, generating a dynamic image that diffuses outward.

[0134] When the ripple rendering mode is breathing mode, the texture coordinate center of the ripple texture data is locked, and a sine wave modulation is applied to the scaling factor and / or pixel brightness of the ripple texture data to generate a dynamic picture with periodic light and dark pulsation in place.

[0135] When the ripple presentation mode is a transition mode, the dynamic images corresponding to the diffusion mode and the breathing mode are mixed according to a preset interpolation curve to generate a smooth transition dynamic image.

[0136] In this exemplary embodiment, the ripple texture data is dynamically processed in real time within the graphics rendering pipeline, as follows:

[0137] Dynamic processing of the diffusion mode: The system applies a scaling transformation to the texture coordinates of the ripple texture data, which increases over time. Specifically, in each frame, the texture coordinates are multiplied by a scaling factor S(t) = 1 + k·t (where k is the diffusion velocity coefficient and t is the age of the wave source). As S(t) increases, the texture image is gradually stretched and enlarged, presenting the visual effect of ripples spreading outward. Simultaneously, the system applies a decay to pixel transparency that decreases with increasing scaling—Alpha(t) = Alpha0 × (1 - t / T_life), where T_life is the preset lifespan of the ripple (e.g., 2 seconds); Alpha0 is the initial transparency when the ripple is first generated (i.e., at t=0); and Alpha(t) is the current transparency at time t. When t reaches T_life, the ripples become completely transparent and disappear, achieving a natural fade-out. Each wave source independently manages its age and lifespan, and ripples from multiple wave sources can coexist and diffuse independently.

[0138] Dynamic processing of the breathing pattern: The system locks the texture coordinate center of the ripple texture data (even if the reference point of the texture coordinates is fixed at the landing point), without translating or scaling the texture coordinates. Instead, the system applies low-frequency sinusoidal modulation to the scaling factor and / or pixel brightness of the ripple texture data. Specifically, the scaling factor S(t) = 1 + 0.1 × sin(2π·f·t), and the pixel brightness B(t) = B0 × [0.7 + 0.3 × sin(2π·f·t + π / 2)], where f is the breathing frequency (e.g., 0.5 Hz); B0 is the base brightness value (reference brightness) of the ripple in the unmodulated state. Thus, the ripple performs periodic "expansion-contraction" and "bright-dark" pulsations in place, simulating the rhythm of biological respiration.

[0139] Dynamic processing of transition modes: The system performs pixel-by-pixel blending of the dynamic images corresponding to the diffusion mode and the breathing mode according to a preset interpolation curve. Specifically, the blending factor α is set to a smooth variation value between 0 and 1 (determined by the motion state parameter D; the closer D is to D², the closer α is to 1). Then, the final image = (1-α) × diffusion mode image + α × breathing mode image. α changes with time according to an easing function to ensure a smooth and natural mode switching process.

[0140] This embodiment uses graphics techniques such as texture coordinate transformation, transparency attenuation, sine wave modulation, and image blending to achieve real-time dynamic rendering of three ripple presentation modes. For example, the diffusion mode presents a rhythmic feeling of lotus blossoms with every step, the breathing mode presents a feeling of companionship, and the transition mode presents a smooth feeling of flowing clouds and water. The three modes switch smoothly without abrupt changes, bringing users an immersive interactive experience.

[0141] In this exemplary embodiment, determining the initial amplitude based on the landing speed value specifically includes:

[0142] According to the preset mapping curve, the landing speed value is mapped to the initial amplitude. The landing speed value is positively correlated with the initial amplitude. The larger the landing speed value, the larger the initial amplitude.

[0143] In this exemplary embodiment, when at least two landing point coordinates exist at the same time, the waveforms generated by each landing point are superimposed according to the principle of coherent interference, and the composite displacement of each waveform at the spatial meeting point is calculated according to the following formula:

[0144] ;

[0145] in, The total displacement is n, where n is the total number of landing points, and A is the total displacement. i Let r be the initial amplitude at the i-th landing point. i γ is the distance from the target point to the i-th landing point, ω is the attenuation coefficient, k is the angular frequency, and φ is the wave number. i The initial phase of the i-th landing point;

[0146] Based on the synthesized displacement, superimposed waveform data is generated, so that the overlapping area of ​​wave peaks exhibits a brightness enhancement effect, and the overlapping area of ​​wave troughs exhibits a brightness reduction effect.

[0147] In this exemplary embodiment, generating ripple texture data based on the displacement of each position in the waveform data further includes:

[0148] The transparency Alpha of each pixel is determined based on the absolute value of the displacement u. The larger the |u|, the less transparent the pixel; the smaller the |u|, the more transparent the pixel, so that the edge of the ripple presents a natural fade-out effect.

[0149] And / or, adjust the mapping method according to preset ripple visual effect parameters, wherein the ripple visual effect parameters include at least one of ripple color, brightness mapping curve and transparency gradient parameters.

[0150] In this exemplary embodiment, the method further includes determining the intention to board the vehicle:

[0151] Based on the horizontal data in the foot spatial coordinate sequence, calculate the approach distance and approach direction of the authorized user target relative to the center position of the vehicle door;

[0152] When the approach distance is less than a preset door distance threshold and the approach direction points to the center of the door, it is determined to be a state of intent to get into the vehicle;

[0153] The ripples are presented in a convergence mode, meaning the ripples are controlled to converge towards the center of the car door, creating a directional visual guidance effect.

[0154] In this exemplary embodiment, the projection device is a high-pixel digital light processing projection matrix installed on the vehicle, and the dynamic ripples are projected onto the ground around the vehicle.

[0155] In this exemplary embodiment, a reverse guidance mode is also included:

[0156] Determine whether the vehicle is currently in a lock-ready state based on the vehicle's status signals;

[0157] When the vehicle is in the locking preparation state, the coordinates of the last detected landing point are obtained as the location of the departing wave source.

[0158] The projection device is controlled to project an inward contraction ripple effect centered on the departure wave source position, causing dynamic ripples to surge back from all sides to the departure wave source position.

[0159] In this exemplary embodiment, the conditions for determining the vehicle locking preparation state are: detecting that the vehicle door changes from an open state to a closed state, and the foot spatial coordinate sequence in the continuous frames moves away from the vehicle, and the distance between the mobile terminal spatial position obtained by the ultra-wideband locator and the vehicle continues to increase.

[0160] In this exemplary embodiment, projection occlusion verification based on the ultrasonic radar is also included:

[0161] Based on the obstacle distance data acquired by the ultrasonic radar, the spatial position of obstacles around the vehicle in the vehicle coordinate system is determined.

[0162] Based on the optical parameters of the projection device, determine the spatial region of the projection optical path between the landing point coordinates and the projection device;

[0163] When the spatial position of the obstacle falls within the spatial area of ​​the projection light path, it is determined that there is projection occlusion, and the ripple projection corresponding to the landing point is suppressed or canceled.

[0164] In this exemplary embodiment, a security alert mode is also included:

[0165] Based on the image data and / or the ultrasonic radar data, detect whether there are any objects moving toward the authorized user target around the vehicle;

[0166] When the moving object is present and its moving speed is greater than a preset safe speed threshold, the projection device is controlled to switch the color of the dynamic ripples to a warning color and project them at a preset flashing frequency.

[0167] In this exemplary embodiment, determining whether the moving object is moving toward the authorized user target specifically includes:

[0168] Track the movement trajectory of the moving object;

[0169] Calculate the shortest distance between the extended trajectory of the moving object and the location of the authorized user target;

[0170] When the shortest distance is less than a preset collision warning threshold and the distance between the moving object and the authorized user target decreases over time, it is determined that the moving object is moving toward the authorized user target.

[0171] In this exemplary embodiment, a projection medium switching step is also included:

[0172] Select the target medium from a variety of projection execution media based on the vehicle's current environmental information and / or user preference settings;

[0173] The various projection execution media include at least two of the following: digital light processing projection modules, intelligent surface self-illuminating bodies installed on the lower door panel or side skirt, and high-pixel DLP projection matrices installed around the vehicle chassis.

[0174] This invention provides a vehicle dynamic ripple interactive control device based on human footprint positioning. Figure 2 This is a schematic diagram of a vehicle dynamic ripple interactive control device based on human footprint positioning, provided as an embodiment of the present invention. Figure 2 As shown, the device includes:

[0175] The data acquisition unit 20 is used to acquire perception data around the vehicle. The perception data includes at least image data collected by the panoramic camera and spatial location data of the mobile terminal held by the authorized user obtained by the ultra-wideband locator.

[0176] The human body tracking unit 21 is used to determine the authorized user target among human targets around the vehicle based on the image data and the spatial position data, and to track the human feet of the authorized user target to obtain a sequence of foot spatial coordinates in consecutive frames.

[0177] The foot data analysis unit 22 is used to determine the landing point coordinates and landing speed value of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence, and to use the landing point coordinates as the wave source position and the landing speed value as the initial amplitude. The wave source position and the initial amplitude are substituted into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position.

[0178] The ripple texture data generation unit 23 is used to generate ripple texture data based on the displacement of each position in the waveform data, determine the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence, and determine the ripple presentation mode based on the motion state of the authorized user target.

[0179] The dynamic ripple projection unit 24 is used to dynamically process the ripple texture data according to the ripple presentation mode, generate dynamic ripple projection texture data, and control the projection device on the vehicle to project the dynamic ripple onto the ground around the vehicle.

[0180] In this exemplary embodiment, the vehicle is equipped with a panoramic camera, an ultra-wideband (UWB) locator, and a high-resolution DLP projection matrix. The panoramic camera is installed below the rearview mirror or around the vehicle body to collect image data of the area surrounding the vehicle; the ultra-wideband locator is located inside the vehicle to obtain spatial location data of a mobile terminal (such as a mobile phone or smart key) held by an authorized user.

[0181] After the vehicle is started, the system continuously acquires the aforementioned perception data. When an authorized user enters a preset range (e.g., 5 meters) around the vehicle with a mobile terminal, the system detects human targets around the vehicle based on image data collected by the camera, and matches the spatial position of the detected human target in the vehicle coordinate system with the spatial position of the mobile terminal obtained by UWB, thereby accurately identifying the authorized user target from multiple human targets.

[0182] Subsequently, the system extracts skeletal points from the human target, tracks key points of its feet, and obtains a sequence of foot spatial coordinates in consecutive frames. The system extracts vertical data from this coordinate sequence and calculates the foot's height parameter h, velocity parameter v, and acceleration parameter a in the vertical direction. When h changes from greater than a first preset height threshold (e.g., 0.15m) to less than a second preset height threshold (e.g., 0.03m) in consecutive frames, v changes from upward to downward and its absolute value is greater than a preset velocity threshold (e.g., 0.5m / s), and a is greater than a preset acceleration threshold (e.g., 5m / s²), all three conditions are simultaneously met. The system determines the current moment as the instant of foot landing, identifies the foot's spatial coordinates at that moment as the landing point coordinates, and uses the absolute value of the velocity parameter v at that moment (e.g., 1.2m / s) as the landing velocity value.

[0183] The system uses the landing point coordinates as the wave source location and the landing velocity value to determine the initial amplitude according to a preset mapping curve (e.g., a landing velocity of 1.2 m / s corresponds to an initial amplitude of 0.6). The wave source location and initial amplitude are substituted into the two-dimensional wave equation for numerical solution, obtaining waveform data at each position propagating outward from the wave source location. Subsequently, the system maps the displacement of each position in the waveform data to pixel color values, generating ripple texture data.

[0184] Simultaneously, based on the horizontal data in the foot's spatial coordinate sequence, the system calculates the horizontal displacement change D and the foot landing frequency F within a preset time window (e.g., 2 seconds). When D is greater than a first preset displacement threshold (e.g., 0.5m) and F is greater than a preset frequency threshold (e.g., 1.0 times / second), it is determined to be a walking state, and the ripple presentation mode is set to diffusion mode. The system dynamically processes the ripple texture data according to the diffusion mode—applying a scaling transformation to the texture coordinates that increases with time, and applying a decay to the pixel transparency that decreases with increasing scaling, generating outward-diffused dynamic ripple projection texture data. Finally, the system controls the DLP projection matrix to project the dynamic ripples onto the ground around the vehicle at a preset projection frequency (e.g., 60 frames / second), creating a dynamic ripple visual effect that is synchronized in real-time with the user's foot landing action.

[0185] This application utilizes multimodal perception, human skeleton point tracking, instantaneous foot placement determination, real-time simulation of wave equations, and adaptive switching of motion states to project dynamic ripples based on the motion state of the authorized user's target, thereby achieving a synchronous interactive experience where what you step on is what you see, and improving the vehicle's intelligent perception and adaptive effect on the user's motion state.

[0186] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0187] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the methods described in the above embodiments.

[0188] This invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the methods described in the above embodiments.

[0189] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0190] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0191] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0192] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0193] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vehicle dynamic ripple interactive control method based on human footprint localization, characterized in that it includes: Acquire perception data around the vehicle, the perception data including at least image data collected by a panoramic camera and spatial location data of the mobile terminal held by the authorized user obtained by an ultra-wideband locator. Based on the image data and the spatial location data, the authorized user target is identified among the human targets around the vehicle, and the feet of the authorized user target are tracked to obtain a sequence of foot spatial coordinates in consecutive frames. Based on the vertical direction data in the foot spatial coordinate sequence, the landing point coordinates and landing speed value of the authorized user target are determined. The landing point coordinates are used as the wave source position, and the landing speed value is used to determine the initial amplitude. The wave source position and the initial amplitude are substituted into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position. Ripple texture data is generated by mapping the displacement of each position in the waveform data, and the motion state of the authorized user target is determined by the horizontal direction data in the foot spatial coordinate sequence, and the ripple presentation mode is determined by the motion state of the authorized user target. The ripple texture data is dynamically processed according to the ripple presentation mode to generate dynamic ripple projection texture data, and the projection device on the vehicle is controlled to project the dynamic ripples onto the ground around the vehicle.

2. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 1, characterized in that, The step of determining the authorized user target from human targets around the vehicle based on the image data and the spatial location data includes: The spatial location of human targets within a preset range around the vehicle is detected based on the image data, and the spatial location of the detected human targets is matched with the spatial location of the mobile terminal held by the authorized user obtained by the ultra-wideband locator. When the spatial distance between the spatial location of the human target and the spatial location of the mobile terminal held by the authorized user is less than a preset matching threshold, the human target is determined to be the authorized user target.

3. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 1, characterized in that, The step of determining the landing point coordinates and landing speed value of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence includes: Based on the vertical direction data in the foot spatial coordinate sequence, the height parameter h, velocity parameter v, and acceleration parameter a of the foot in the vertical direction are analyzed and obtained. When the height parameter h changes from greater than a first preset height threshold to less than a second preset height threshold in a continuous frame, the direction of the velocity parameter v changes from upward to downward and its absolute value is greater than a preset velocity threshold, and the acceleration parameter a is greater than a preset acceleration threshold, the current moment is determined to be the landing moment, wherein the first preset height threshold is greater than the second preset height threshold; The spatial coordinates of the foot at the instant of landing are determined as the coordinates of the landing point, and the absolute value of the velocity parameter v at the instant of landing is taken as the landing velocity value.

4. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 1, characterized in that, The step of substituting the wave source location and the initial amplitude into the wave equation for numerical solution to obtain waveform data at each location propagating outward from the wave source location includes: The digital simulation space is discretized into a two-dimensional uniform grid; wherein each intersection point in the two-dimensional uniform grid is a grid point, each grid point corresponds to a sampling position of the ground around the vehicle, and has grid index coordinates and corresponding physical space coordinates; The initial conditions for the wave equation are constructed by taking the grid point corresponding to the wave source location as the center grid point of the wave source and the initial amplitude as the displacement of the center grid point of the wave source at the initial moment. Based on the initial conditions of the wave equation, the wave equation is solved iteratively using the explicit finite difference method. At each time step, the displacement of each grid point at the next time step is calculated recursively based on the current displacement of each grid point. At the end of each time step, the displacement of each grid point in the digital simulation space is updated until the displacement of each grid point approaches zero or reaches the preset number of iterations, thereby obtaining the waveform data of each position propagating outward from the wave source position.

5. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 4, characterized in that, The step of generating ripple texture data by mapping the displacement at each position in the waveform data includes: The displacement u of each grid point in the waveform data is converted into pixel color values ​​according to a preset mapping relationship; wherein a positive displacement u is mapped to a light color, a negative displacement u is mapped to a dark color, and the larger the absolute value of the displacement u, the higher the color saturation. The converted pixel color values ​​of each grid point are arranged according to the grid position to generate the ripple texture data.

6. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 3, characterized in that, Determining the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence includes: Based on the horizontal data in the foot spatial coordinate sequence, the change in horizontal displacement D of the foot within a preset time window is analyzed and obtained. Based on the instantaneous foot landing time in the foot spatial coordinate sequence, determine the foot landing frequency F per unit time. When the change in horizontal displacement D is greater than a first preset displacement threshold and the landing frequency F is greater than a preset frequency threshold, it is determined to be a walking state; When the change in horizontal displacement D is less than the second preset displacement threshold and the duration exceeds the preset dwell time threshold, it is determined to be a dwell state; wherein, the second preset displacement threshold is less than the first preset displacement threshold; When the change in horizontal displacement D is between the second preset displacement threshold and the first preset displacement threshold, it is determined to be a deceleration or start-up state.

7. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 6, characterized in that, Determining the ripple presentation mode based on the motion state of the authorized user target includes: When the authorized user target's movement state is walking, the ripple presentation mode is determined to be diffusion mode; When the motion state of the authorized user target is a stationary state, the ripple presentation mode is determined to be a breathing mode; When the movement state of the authorized user target is deceleration or starting, the ripple presentation mode is determined to be the transition mode, that is, the ripple is controlled to smoothly transition between the diffusion mode and the breathing mode according to the preset interpolation curve.

8. The vehicle dynamic ripple interactive control method based on human footprint localization according to claim 7, characterized in that, The step of dynamically processing the ripple texture data according to the ripple rendering mode to generate dynamic ripple projection texture data includes: When the ripple rendering mode is diffusion mode, a scaling transformation that increases with time is applied to the texture coordinates of the ripple texture data, and a decay that decreases with increasing scaling degree is applied to the pixel transparency, generating a dynamic image that diffuses outward. When the ripple rendering mode is breathing mode, the texture coordinate center of the ripple texture data is locked, and a sine wave modulation is applied to the scaling factor and / or pixel brightness of the ripple texture data to generate a dynamic picture with periodic light and dark pulsation in place. When the ripple presentation mode is a transition mode, the dynamic images corresponding to the diffusion mode and the breathing mode are mixed according to a preset interpolation curve to generate a smooth transition dynamic image.

9. A vehicle dynamic ripple interactive control device based on human footprint positioning, characterized in that, include: The data acquisition unit is used to acquire perception data around the vehicle. The perception data includes at least image data collected by the panoramic camera and spatial location data of the mobile terminal held by the authorized user acquired by the ultra-wideband locator. The human body tracking unit is used to determine the authorized user target among human targets around the vehicle based on the image data and the spatial position data, and to track the feet of the authorized user target to obtain a sequence of foot spatial coordinates in consecutive frames. The foot data analysis unit is used to determine the landing point coordinates and landing speed value of the authorized user target based on the vertical direction data in the foot spatial coordinate sequence, and to use the landing point coordinates as the wave source position and the landing speed value as the initial amplitude. The wave source position and the initial amplitude are substituted into the wave equation for numerical solution to obtain the waveform data of each position propagating outward from the wave source position. The ripple texture data generation unit is used to generate ripple texture data based on the displacement of each position in the waveform data, determine the motion state of the authorized user target based on the horizontal direction data in the foot spatial coordinate sequence, and determine the ripple presentation mode based on the motion state of the authorized user target. The dynamic ripple projection unit is used to dynamically process the ripple texture data according to the ripple presentation mode, generate dynamic ripple projection texture data, and control the projection device on the vehicle to project the dynamic ripple onto the ground around the vehicle.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 8.

Images